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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 760-781页

作者： Dingxin He HaoPing Wang Yang Tian Yida Guo the school of Automation Nanjing University of Science and TechnologyNanjing 210094China IEEE Norinco Group Institute of navigation and Control Technology Beijing 100089China

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input *** the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller ***,the control gain of ultra-local model is considered as a *** fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped ***,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is ***,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown ***,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown ***,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is ***,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov ***,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

关键词： Adaptive control input deadzone model-free control n-DOF upper-limb exoskeleton neural network

Exploiting blockchain for dependable services in zero-trust vehicular networks

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Frontiers of Computer Science 2024年第2期18卷 157-166页

作者： Min HAO Beihai TAN Siming WANG Rong YU Ryan Wen LIU Lisu YU school of Automation Guangdong University of TechnologyGuangzhou 510006China school of Integrated Circuits Guangdong University of TechnologyGuangzhou 510006China school of navigation Wuhan University of TechnologyWuhan 430063China school of Information Engineering Nanchang UniversityNanchang 330031China

The sixth-generation(6G)wireless communication system is envisioned be cable of providing highly dependable services by integrating with native reliable and trustworthy ***-trust vehicular networks is one of the typical scenarios for 6G dependable *** the technical framework of vehicle-and-roadside collaboration,more and more on-board devices and roadside infrastructures will communicate for information *** reliability and security of the vehicle-and-roadside collaboration will directly affect the transportation *** a zero-trust vehicular environment,to prevent malicious vehicles from uploading false or invalid information,we propose a malicious vehicle identity disclosure approach based on the Shamir secret sharing ***,a two-layer consortium blockchain architecture and smart contracts are designed to protect the identity and privacy of benign vehicles as well as the security of their private *** that,in order to improve the efficiency of vehicle identity disclosure,we present an inspection policy based on zero-sum game theory and a roadside unit incentive mechanism jointly using contract theory and subjective logic *** verify the performance of the entire zero-trust solution through extensive simulation *** the premise of protecting the vehicle privacy,our solution is demonstrated to significantly improve the reliability and security of 6G vehicular networks.

关键词： sixth-generation(6G) zero-trust block-chain vehicular networks privacy preservation

A robust joint frequency spectrum and power allocation strategy in a coexisting radar and communication system

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Chinese Journal of Aeronautics 2024年第10期37卷 393-409页

作者： Haowei ZHANG Weijian LIU Qun ZHANG Taiyong FEI Air and Missile Defense school Air Force Engineering UniversityXi’an 710051China Air Force Early Warning Academy Wuhan 410039China Information and navigation school Air Force Engineering UniversityXi’an 710082China

The resource allocation technique is of great significance in achieving frequency spectrum coexistence in Joint Radar-Communication(JRC)systems,by which the problem of radio frequency spectrum congestion can be well alleviated.A Robust Joint Frequency Spectrum and Power Allocation(RJFSPA)strategy is proposed for the Coexisting Radar and Communication(CRC)***,we consider the uncertainty of target Radar Cross Section(RCS)and communication channel gain to formulate a bi-objective optimization *** joint probabilities that the Crame´r-Rao Lower Bound(CRLB)of each target satisfying the localization accuracy threshold and the Communication Data Ratio(CDR)of each user satisfying the communication threshold are simultaneously maximized,under the constraint of the total power budget.A Three-Stage Alternating Optimization Method(TSAOM)is proposed to obtain the Best-Known Pareto Subset(BKPS)of this problem,where the frequency spectrum,radar power,and communicator power are allocated using the greedy search and standard convex optimization methods,*** results confirm the effectiveness of the proposed RJFSPA strategy,compared with the resource allocation methods in a uniform manner and that ignores the *** efficiency of the TSAOM is also verified by the comparison with the exhaustive search-based method.

关键词： Radar and communication system Bi-objective optimization Resource allocation Cramér-Rao lower bound Communication data ratio

Research on the navigational risk of liquefied natural gas carriers in an inland river based on entropy:A cloud evaluation model

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Transportation Safety and Environment 2024年第2期6卷 13-23页

作者： Chengyong Liu Shijie Li Shuzhe Chen Qifan Chen Kang Liu school of navigation Wuhan University of TechnologyWuhan 430063HubeiChina Hubei Key Laboratory of Inland Shipping Technology Wuhan 430063HubeiChina

Due to the flammability and explosive nature of liquefied natural gas(LNG),an extremely strict process is followed for the transporta-tion of LNG carriers in ***,no LNG carriers are operating in inland rivers within the ***,to ensure the future navigation safety of LNG carriers entering the Yangtze River,the risk sources of LNG carriers’navigation safety must be identi-fied and *** on the Delphi and expert experience method,this paper analyses and discusses the navigation risk factors of LNG carriers in the lower reaches of the Yangtze River from four aspects(human,ship,environment and management),identifies 12 risk indicators affecting the navigation of LNG carriers and establishes a risk evaluation index ***,an entropy weight fuzzy model is utilized to reduce the influence of subjective judgement on the index weight as well as to conduct a segmented and overall evaluation of LNG navigation risks in the Baimaosha ***,the cloud model is applied to validate the consistent feasibility of the entropy weight fuzzy *** research results indicate that the method provides effective technical support for further study on the navigation security of LNG carriers in inland rivers.

关键词： liquefied natural gas(LNG)carrier navigation risk entropy weight cloud model risk assessment

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 956-964页

作者： Li-Ying Hao Gege Dong Tieshan Li Zhouhua Peng the school of Marine Electrical Engineering Dalian Maritime UniversityDalian 116026China the school of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731the Navigation CollegeDalian Maritime UniversityDalian 116026 the Yangtze Delta Region Institute(Huzhou) Huzhou 313001China

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external *** surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to *** reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency *** nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external *** using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of *** with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance ***,the comparison results through simulations are given to verify the effectiveness of the proposed method.

关键词： Actuator faults autonomous surface vehicle(ASVs) improved artificial potential function nonlinear state observer obstacle avoidance

Method of improving pedestrian navigation performance based on chest card

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Journal of Systems Engineering and Electronics 2024年第4期35卷 987-998页

作者： CHENG Hao GAO Shuang CAI Xiaowen WANG Yuxuan WANG Jie school of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China school of Automation and Electronic Information Xiangtan UniversityXiangtan 411105China navigation Guidance and Control Graduate School of the Second Institute of China Aerospace Science and Industry CorporationBeijing 100854China

With the development of positioning technology,loca-tion services are constantly in demand by *** a primary location service pedestrian navigation has two main approaches based on radio and inertial *** pedestrian naviga-tion based on radio is subject to environmental occlusion lead-ing to the degradation of positioning *** pedestrian navigation based on micro-electro-mechanical system inertial measurement unit(MIMU)is less susceptible to environmental interference,but its errors dissipate over *** this paper,a chest card pedestrian navigation improvement method based on complementary correction is proposed in order to suppress the error divergence of inertial navigation *** suppress atti-tude errors,optimal feedback coefficients are established by pedestrian motion *** extend navigation time and improve positioning accuracy,the step length in subsequent movements is compensated by the first step *** experi-mental results show that the positioning accuracy of the pro-posed method is improved by more than 47%and 44%com-pared with the pure inertia-based method combined with step compensation and the traditional complementary filtering com-bined method with step *** proposed method can effectively suppress the error dispersion and improve the positioning accuracy.

关键词： pedestrian navigation micro-electro-mechanical sy-stem(MEMS) inertial navigation complementary filtering

An mmWave Dual-Band Integrated Substrate Gap Waveguide Single Cavity Filter with Frequency Selectivity

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China Communications 2024年第1期21卷 188-199页

作者： Qiuhua Lin Dongya Shen Lihui Wang Zhiyong Luo school of Electronics and Communication Engineering Sun Yat-sen UniversityShenzhen 518107China school of Information Science and Engineering Yunnan UniversityKunming 650091China Pengcheng Laboratory Shenzhen 518107China Shenzhen Key Laboratory of navigation and Communication Integration Shenzhen 518107China

A novel dual-band ISGW cavity filter with enhanced frequency selectivity is proposed in this paper by utilizing a multi-mode coupling *** cavity is designed to control the number of modes,and then the ports are determined by analyzing the coupling relationship between these selected *** synthesizing the coupling matrix of the filter,a nonresonating node(NRN)structure is introduced to flexibly tune the frequency of modes,which gets a dualband and quad-band filtering response from a tri-band filter no the ***,a frequency selective surface(FSS)has been newly designed as the upper surface of the cavity,which significantly improves the bad out-of-band suppression and frequency selectivity that often exists in most traditional cavity filter designs and *** results show that its two center frequencies are f01=27.50 GHz and f02=32.92GHz,*** with the dual-band filter that there is no the FSS metasurface,the out-of-band suppression level is improved from measured 5 dB to18 dB,and its finite transmission zero(FTZ)numbers is increased from measured 1 to 4 between the two designed *** with the tri-band and quadband filter,its passband bandwidth is expanded from measured 1.17%,1.14%,and 1.13% or 1.31%,1.50%,0.56%,and 0.57% to 1.71% and 1.87%.In addition,the filter has compact,small,and lightweight characteristics.

关键词： coupling topology frequency selectivity non-resonating node(NRN) out-of-band suppression single ISGW cavity filter

Unstructured Road Extraction in UAV Images based on Lightweight Model

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 372-384页

作者： Di Zhang Qichao An Xiaoxue Feng Ronghua Liu Jun Han Feng Pan school of Automation Beijing Institute of TechnologyBeijing 100081China Tianjin Institute of Maritime navigation Instruments Tianjin 300130China The 716th Research Institute of China Shipbuilding Group Co. LtdJiangsu 222061China

There is no unified planning standard for unstructured roads,and the morphological structures of these roads are complex and *** is important to maintain a balance between accuracy and speed for unstructured road extraction *** road extraction algorithms based on deep learning have problems such as high model complexity,high computational cost,and the inability to adapt to current edge computing ***,it is best to use lightweight network *** the need for lightweight models and the characteristics of unstructured roads with different pattern shapes,such as blocks and strips,a TMB(Triple Multi-Block)feature extraction module is proposed,and the overall structure of the TMBNet network is *** TMB module was compared with SS-nbt,Non-bottleneck-1D,and other modules via *** feasibility and effectiveness of the TMB module design were proven through experiments and *** comparison experiment,using multiple convolution kernel categories,proved that the TMB module can improve the segmentation accuracy of the *** comparison with different semantic segmentation networks demonstrates that the TMBNet network has advantages in terms of unstructured road extraction.

关键词： Unstructured road Lightweight model Triple Multi-Block(TMB) Semantic segmentation net

Automatic modeling algorithm of stochastic error for inertial sensors

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Control Theory and Technology 2024年第1期22卷 81-91页

作者： Luodi Zhao Long Zhao school of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China Digital navigation Center Beihang UniversityBeijing100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing100191China

This paper proposes an automatic algorithm to determine the properties of stochastic processes and their parameters for inertial error. The proposed approach is based on a recently developed method called the generalized method of wavelet moments (GMWM), whose estimator was proven to be consistent and asymptotically normally distributed. This algorithm is suitable mainly (but not only) for the combination of several stochastic processes, where the model identification and parameter estimation are quite difficult for the traditional methods, such as the Allan variance and the power spectral density analysis. This algorithm further explores the complete stochastic error models and the candidate model ranking criterion to realize automatic model identification and determination. The best model is selected by making the trade-off between the model accuracy and the model complexity. The validation of this approach is verified by practical examples of model selection for MEMS-IMUs (micro-electro-mechanical system inertial measurement units) in varying dynamic conditions.

关键词： GMWM Stochastic process Inertial sensor Sensor calibration Error model Allan variance

Optimized Selection Method of Air Combat Course of Action under Stochastic Uncertainty

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Journal of Systems Science and Systems Engineering 2024年第4期33卷 494-518页

作者： Yun Zhong Jieyong Zhang Peng Sun Lujun Wan Kepeng Wang Information and navigation College Air Force Engineering UniversityXi’an710077China Equipment Management and Unmanned Aerial Vehicle Engineering College Air Force Engineering UniversityXi’an710051China Air Traffic Control and navigation College Air Force Engineering UniversityXi’an710051China Unit 94040 of PLA Korla841000China

Aiming at the design problem of aviation swarm combat course of action(COA),considering the influence of stochastic parameters in the causal relationship model and optimization problem model,according to the dynamic influence net(DIN)theory,stochastic simulation technique,feedforward neural network(FNN)function approximation technique and multi-objective artificial fish school algorithm(MOAFSA),this paper proposed a COA optimized method based on DIN and multi-objective stochastic chance constraint optimization for aviation swarm ***,on the basis of establishing the overall framework of the model and defining the elements of causal relationship modeling,the static and dynamic causal relationship modeling and optimization problem modeling were carried out ***,the probability propagation mechanism of DIN was established,which mainly included two aspects,i.e.,the overall process and the specific ***,input and output data were generated based on stochastic *** to these data,FNN was adopted for function approximation,and MOAFSA was adopted for iterative ***,the rationality of the model,and the effectiveness and superiority of the algorithm were verified through multiple sets of simulation cases.

关键词： Stochastic uncertainty aviation swarm stochastic simulation course of action feedforward neural network multi-objective artificial fish school algorithm